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<h1>mindsensors-magicwand.h</h1>  </div>
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<a href="mindsensors-magicwand_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup Magic_Wand Magic Wand</span>
<a name="l00004"></a>00004 <span class="comment"> * Magic Wand</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-magicwand.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MSMW_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MSMW_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file mindsensors-magicwand.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Mindsensors Magic Wand</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * mindsensors-magicwand.h provides additional functionality on top of the PCF8574 driver for</span>
<a name="l00018"></a>00018 <span class="comment"> * the Mindsensors Magic Wand</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * Changelog:</span>
<a name="l00021"></a>00021 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00022"></a>00022 <span class="comment"> *</span>
<a name="l00023"></a>00023 <span class="comment"> * Credits:</span>
<a name="l00024"></a>00024 <span class="comment"> * - Originally written by Mike Partain a.k.a. Spiked3 (http://www.spiked3.com/)</span>
<a name="l00025"></a>00025 <span class="comment"> * - Modified by Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00026"></a>00026 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00027"></a>00027 <span class="comment"> *</span>
<a name="l00028"></a>00028 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00029"></a>00029 <span class="comment"> *</span>
<a name="l00030"></a>00030 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00031"></a>00031 <span class="comment"></span>
<a name="l00032"></a>00032 <span class="comment"> * \author Mike Partain a.k.a. Spiked3 (http://www.spiked3.com/)</span>
<a name="l00033"></a>00033 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00034"></a>00034 <span class="comment"> * \date 29 July 2012</span>
<a name="l00035"></a>00035 <span class="comment"> * \version 0.1</span>
<a name="l00036"></a>00036 <span class="comment"> * \example mindsensors-magicwand-test1.c</span>
<a name="l00037"></a>00037 <span class="comment"> */</span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#ifndef __PCF8574_H__</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="philips-pcf8574_8h.html" title="Philips PCF8574 IO MUX driver.">philips-pcf8574.h</a>&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#endif</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span>
<a name="l00043"></a><a class="code" href="group___magic___wand.html#ga02739124b959de66fba08bc27dbfe852">00043</a> <span class="preprocessor">#define MSMWclearALL(X)   PCF8574sendBytes(X, 0xFF)</span>
<a name="l00044"></a><a class="code" href="group___magic___wand.html#gae1d7742ef96f374705821ef64f6ea8a7">00044</a> <span class="preprocessor"></span><span class="preprocessor">#define MSMWsetALL(X)     PCF8574sendBytes(X, 0x00)</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment">/**</span>
<a name="l00047"></a>00047 <span class="comment"> * Turn a specific LED on or off.</span>
<a name="l00048"></a>00048 <span class="comment"> * @param link the Magic Wand port</span>
<a name="l00049"></a>00049 <span class="comment"> * @param ledToChange the index of the LED to change (0-7)</span>
<a name="l00050"></a>00050 <span class="comment"> * @param on stateof the LED, true = on, false = off</span>
<a name="l00051"></a>00051 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a><a class="code" href="group___magic___wand.html#ga9e6d253b6b3b577171d640a794eb4b2a">00053</a> <span class="keywordtype">bool</span> <a class="code" href="group___magic___wand.html#ga9e6d253b6b3b577171d640a794eb4b2a">MSMWsetLED</a>(tSensors link, ubyte ledToChange, <span class="keywordtype">bool</span> on)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055   ubyte ledState;
<a name="l00056"></a>00056 
<a name="l00057"></a>00057   <span class="keywordflow">if</span> (!<a class="code" href="group__pcf8574.html#gae111fe3d5b95b60fd36b3e35b9e106ad">PCF8574readBytes</a>(link, ledState))
<a name="l00058"></a>00058   {
<a name="l00059"></a>00059     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00060"></a>00060   }
<a name="l00061"></a>00061 
<a name="l00062"></a>00062   <span class="keywordflow">return</span> <a class="code" href="group__pcf8574.html#gab93b5319ae75a2ee6c08b8d83dae66b6">PCF8574sendBytes</a>(link, (on ? ledState &amp; ~(1 &lt;&lt; ledToChange) : ledState | (1 &lt;&lt; ledToChange)) );
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064 
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment">/**</span>
<a name="l00067"></a>00067 <span class="comment"> * Toggle a LED</span>
<a name="l00068"></a>00068 <span class="comment"> * @param link the Magic Wand port</span>
<a name="l00069"></a>00069 <span class="comment"> * @param ledToChange the index of the LED to change (0-7)</span>
<a name="l00070"></a>00070 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="group___magic___wand.html#ga74c6a457baee52433276c6d8174bf80c">00072</a> <span class="keywordtype">bool</span> <a class="code" href="group___magic___wand.html#ga74c6a457baee52433276c6d8174bf80c">MSMWtoggleLED</a>(tSensors link, ubyte ledToChange)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074   ubyte ledState;
<a name="l00075"></a>00075   <span class="keywordflow">if</span> (!<a class="code" href="group__pcf8574.html#gae111fe3d5b95b60fd36b3e35b9e106ad">PCF8574readBytes</a>(link, ledState))
<a name="l00076"></a>00076   {
<a name="l00077"></a>00077     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00078"></a>00078   }
<a name="l00079"></a>00079   <span class="keywordflow">return</span> <a class="code" href="group__pcf8574.html#gab93b5319ae75a2ee6c08b8d83dae66b6">PCF8574sendBytes</a>(link, ledState ^ (1 &lt;&lt; ledToChange));
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081 
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment">/**</span>
<a name="l00084"></a>00084 <span class="comment"> * Flash the LEDs and turn them off again.  Nice effect.</span>
<a name="l00085"></a>00085 <span class="comment"> * @param link the Magic Wand port</span>
<a name="l00086"></a>00086 <span class="comment"> * @param count number of times to flash the LEDs</span>
<a name="l00087"></a>00087 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a><a class="code" href="group___magic___wand.html#ga532f13c1d6d3e90e449f609d21f7ffba">00089</a> <span class="keywordtype">bool</span> <a class="code" href="group___magic___wand.html#ga532f13c1d6d3e90e449f609d21f7ffba">MSMWflashAndClear</a>(tSensors link, <span class="keywordtype">int</span> count)
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091   <a class="code" href="group__pcf8574.html#gab93b5319ae75a2ee6c08b8d83dae66b6">PCF8574sendBytes</a>(link, 0xFF);    <span class="comment">// all off</span>
<a name="l00092"></a>00092   <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; i++)
<a name="l00093"></a>00093   {
<a name="l00094"></a>00094     <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 8; j++) {
<a name="l00095"></a>00095       <span class="keywordflow">if</span> (!<a class="code" href="group___magic___wand.html#ga9e6d253b6b3b577171d640a794eb4b2a">MSMWsetLED</a>(link, j, <span class="keyword">true</span>))
<a name="l00096"></a>00096       {
<a name="l00097"></a>00097         <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00098"></a>00098       }
<a name="l00099"></a>00099       wait1Msec(30);
<a name="l00100"></a>00100     }
<a name="l00101"></a>00101     <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 8; j++) {
<a name="l00102"></a>00102       <span class="keywordflow">if</span> (!<a class="code" href="group___magic___wand.html#ga9e6d253b6b3b577171d640a794eb4b2a">MSMWsetLED</a>(link, j, <span class="keyword">false</span>))
<a name="l00103"></a>00103       {
<a name="l00104"></a>00104         <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00105"></a>00105       }
<a name="l00106"></a>00106       wait1Msec(30);
<a name="l00107"></a>00107     }
<a name="l00108"></a>00108     <span class="keywordflow">if</span> (!<a class="code" href="group__pcf8574.html#gab93b5319ae75a2ee6c08b8d83dae66b6">PCF8574sendBytes</a>(link, 0xFF))
<a name="l00109"></a>00109     {
<a name="l00110"></a>00110       <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00111"></a>00111     }
<a name="l00112"></a>00112   }
<a name="l00113"></a>00113   <a class="code" href="group__pcf8574.html#gab93b5319ae75a2ee6c08b8d83dae66b6">PCF8574sendBytes</a>(link, 0xFF);
<a name="l00114"></a>00114   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116 
<a name="l00117"></a>00117 <span class="preprocessor">#endif //  __MSMW_H__</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span>
<a name="l00119"></a>00119 <span class="comment">/*</span>
<a name="l00120"></a>00120 <span class="comment"> * $Id: mindsensors-magicwand.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a>00122 <span class="comment">/* @} */</span>
<a name="l00123"></a>00123 <span class="comment">/* @} */</span>
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